Method and apparatus for providing haptic effects to a touch panel

ABSTRACT

A method and apparatus for generating haptic effects for a touch panel or other interface device employs a touch-sensitive panel, a display and an actuator. The actuator includes a first structural element and a second structural element, a biasing element and two magnetic devices. The first magnetic device is configured to be carried by the first structural element and the second magnetic device is configured to be carried by the second structural element. The first structural element is coupled to a touch-sensitive panel and the second structural element may be coupled to the display or to a relatively fixed item. The biasing element couples the first and second structural elements together and deforms to facilitate a movement between the first and second structural elements. The actuator provides haptic effects by facilitating relative movement between the first and second structural elements.

GOVERNMENT INTEREST

This invention was made with support under grant number DMI-0441692 fromthe National Science Foundation. The United States Government hascertain rights in the invention.

FIELD OF THE INVENTION

The present invention relates to the field of computer interfacesystems. More particularly, the present invention relates to a userinterface device that provides haptic effect in response to user inputs.

BACKGROUND OF THE INVENTION

As computer-based systems, appliances, automated teller machines (ATM),point-of-sale terminals and the like become more prevalent, the ease ofuse of the human-machine interface is becoming more and more important.Such interfaces should operate intuitively and with little or notraining so that they may be employed by virtually anyone. Manyconventional user interface devices are available on the market andinclude the keyboard, the mouse, the joystick, the touch screen, and thetouchpad. One of the most intuitive and interactive interface devicesknown is the touch panel, which is also known as a touch screen, a touchpad, a touch screen display, and so forth. A touch panel includes atouch-sensitive input panel and a display device, usually in a sandwichstructure and provides a user with a machine interface through touchinga panel sensitive to the user's touch and displaying content that theuser “touches.”

A touch panel can be a small planar rectangular pad, which can beinstalled in or near a computer, an automobile, ATM machines, and thelike. A conventional touch-sensitive component of a touch panel employsvarious types of touch sensing technology such as capacitive sensing,pressure sensing and the like as known in the art to detect locationsbeing pressed on the panel. For example, a user contacts thetouch-sensitive panel commonly with a fingertip to emulate a buttonpress and/or moves his or her finger on the panel according to thegraphics displayed behind the panel on the display device.

A problem associated with conventional touch panels is that they lackthe capability of providing interactive tactile acknowledgements toindicate whether input has been accepted or rejected.

Accordingly, there is a need for a touch panel to provide an interactivetactile feedback to indicate whether a user's selection has beenaccepted or rejected and/or other appropriate or desirable effects.

SUMMARY OF THE INVENTION

A method and apparatus for generating haptic effects for a touch panelor other interface device employs a touch-sensitive panel, a display andan actuator. The actuator includes a first structural element and asecond structural element, a biasing element and two magnetic devices.The first magnetic device is configured to be carried by the firststructural element and the second magnetic device is configured to becarried by the second structural element. The first structural elementis coupled to a touch-sensitive panel and the second structural elementmay be coupled to the display or a relatively fixed item. The biasingelement, which may be implemented as a spring, flexible blade,elastomeric element, flexure spring, resilient foam, rubber-likeelement, or other spring-like device, couples the first and secondstructural elements together and deforms to facilitate a movementbetween the first and second structural elements. The actuator provideshaptic effects by facilitating relative movement between the first andsecond structural elements and the haptic effects are imparted to thetouch-sensitive panel.

Additional features and benefits of the present invention will becomeapparent from the detailed description, figures and claims set forthbelow.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated into and constitute aspart of this specification, illustrate one or more embodiments of thepresent invention and, together with the detailed description, serve toexplain the principles and implementations of the invention.

In the drawings:

FIG. 1 is an elevational diagram illustrating an actuator for providinghaptic effects in accordance with one embodiment of the presentinvention;

FIG. 2 is an elevational diagram illustrating alternativeelectromagnetic components for generating attractive magnetic force inan actuator in accordance with one embodiment of the present invention;

FIG. 3 is an elevational diagram of an alternative embodiment of anactuator in accordance with the present invention;

FIG. 4 is an elevational diagram of another embodiment of an actuator inaccordance with the present invention;

FIG. 5 is an elevational diagram of a system employing an actuator inaccordance with one embodiment of the present invention;

FIG. 6 is an elevational diagram illustrating a second equilibriumposition of an actuator in accordance with one embodiment of the presentinvention;

FIG. 7 is a front respective diagram of a system configured with aplurality of actuators in accordance with one embodiment of the presentinvention;

FIG. 8 is a flow diagram illustrating a method for generating hapticeffects in accordance with one embodiment of the present invention; and

FIG. 9 is a block diagram illustrating a system having an actuator inaccordance with one embodiment of the present invention.

DETAILED DESCRIPTION

Embodiments of the present invention are described herein in the contextof a method and apparatus for providing haptic effects to a touch panel.Those of ordinary skill in the art will realize that the followingdetailed description of the present invention is illustrative only andis not intended to be in any way limiting. Other embodiments of thepresent invention will readily suggest themselves to such skilledpersons having the benefit of this disclosure. Reference will now bemade in detail to implementations of the present invention asillustrated in the accompanying drawings. The same reference indicatorswill be used throughout the drawings and the following detaileddescription to refer to the same or like parts.

In the interest of clarity, not all of the routine features of theimplementations described herein are shown and described. It will, ofcourse, be appreciated that in the development of any such actualimplementation, numerous implementation-specific decisions must be madein order to achieve the developer's specific goals, such as compliancewith application- and business-related constraints, and that thesespecific goals will vary from one implementation to another and from onedeveloper to another. Moreover, it will be appreciated that such adevelopment effort might be complex and time-consuming, but wouldnevertheless be a routine undertaking of engineering for those ofordinary skill in the art having the benefit of this disclosure.

The present invention relates to a user interface system that, in oneembodiment, includes a display, an actuator and a touch-sensitive panel.A housing, such as a case, carrier, base, frame or the like may also beused to house the display, actuator and touch-sensitive panel. Theactuator includes at least a pair of magnetic devices and at least onebiasing element arranged to counter the gap-closing attractive force ofthe magnetic devices for providing haptic effects.

Turning now to the figures, FIG. 1 illustrates an actuator 100 forgenerating haptic effects in accordance with one embodiment of thepresent invention. Actuator 100 includes two L-shaped pole pieces 110,112, first and second structural elements 102 and 104 and first andsecond biasing elements 106 and 108. Pole pieces 110, 112, may be madeof standard magnetic steels with high permeability, or other suitableferromagnetic materials such as soft magnetic materials with highmagnetic permeability (e.g., iron, nickel, magnetic alloys) or sinteredmaterials such as ferrite, as are well known to those of ordinary skillin the art. They need not be made of the same material and they arefurther coupled to coils 114 a, 114 b to form electromagnetic devices(“magnetic device”). Coils 114 a, 114 b, which may be made of copper orother suitable electric conductors, are coupled to one or more currentsources for generating magnetic fields when current passes through thecoils 114 a, 114 b. In another embodiment one of the pole pieces neednot include a coil as long, as it is formed of a ferromagnetic material.

Actuator 100 further includes structural elements 102, 104 and first andsecond biasing elements 106, 108 to form a frame for the actuator 100.It should be noted that structural elements 102, 104 and biasingelements 106, 108 can be manufactured out of a single piece of materialsuch as metal or plastic. Alternatively, structural elements 102, 104and biasing elements 106, 108 may be manufactured independently. Firststructural element 102, as shown in FIG. 1, includes appertures 120,122, which are used for coupling or fastening to a housing, a display ora touch-sensitive panel. Similarly, structural element 104 also containsappertures 124, 126 for similar coupling. Structural elements 102, 104are made of reasonably rigid materials, such as plastic, aluminum, andthe like, for providing physical support for the pole pieces 110, 112.Biasing elements 106, 108, which may be springs, flexure springs,flexible blades, flexible members, elastomeric components, foamcomponents, and the like, are made of elastic or relatively flexiblematerials that can be compressed and/or stretched within a predefinedrange. In one embodiment the biasing elements 106, 108 and structuralelements 102, 104 are made of a plastic material with the biasingelements formed to be made thinner (and hence more flexible) than thestructural elements.

Referring again to FIG. 1, pole pieces 110 and 112 are coupled tostructural elements 102 and 104, respectively. Pole piece 110 is placedadjacent to pole piece 112 with three magnetic gaps 140, 142 and 144between the pole pieces 110, 112. The width of the gap 144 situatedbetween the main bodies of the pole pieces 110, 112 is, in oneembodiment, in a range of about 1 to about 5 millimeters (“mm”). Thewidth of the gaps 140, 142 is in one embodiment, in a range of about0.25 to about 0.75 mm. Air pockets 130, 132, which can be of any shape,provide space for pole pieces 110, 112 to move. They are not required,however. Because gaps 140, 142 are much smaller than gap 144 theattractive magnetic force at gaps 140, 142 dominates over any attractiveforce across gap 144.

In operation, the biasing elements 106, 108 provide minimal force ifthere is no current passing through the coils 114 and the actuator is(accordingly) in a relaxed state. Under this no power condition, theactuator attains a first equilibrium position as shown, for example, inFIG. 1. When power is applied to coil(s) 114 a, 114 b an input currentpasses through the coil(s) creating magnetic flux lines 150 in the polepieces 110, 112 and across gaps 140, 142. This process acts to generatean attractive force or attractive magnetic force between the pole pieces110, 112 when the coils are wound so that the electromagnetic effects donot cancel one another. The term attractive force and attractivemagnetic force are used interchangeably herein. The attractive magneticforce acts against the biasing elements 106, 108 and pulls the polepieces 110, 112 closer together at the gaps 140, 142. In accordance withthe embodiment shown in FIG. 1, under the attractive magnetic force,with structural element 102 held fixed, the pole piece 112 moves in adirection from right to left (as indicated by arrow 138) toward the polepiece 110. Pole piece 110, in this embodiment, may be fastened orsecured to structural element 102, which may be further secured to ahousing, touch-sensitive panel or display device. When one of the polepieces 110, 112 is displaced enough distance within the gaps 140, 142, asecond equilibrium position is reached as increasing spring force isapplied in an opposite direction by biasing elements 106, 108. Whenpower is then reduced or removed, the biasing elements 106, 108 forcethe pole pieces 110, 112 back to their original no-power position, alsoknown as the first equilibrium position as described earlier.

It should be noted that the attractive force can be manipulated byvarying an amount of current passing through the coils 114 a, 114 b.Accordingly, the acts of varying the magnitude, duration and pulserepetition of current passing through the coils 114 a, 114 b can be usedto vary the level and quality of sensation provided by the hapticeffect. It should be further noted that the haptic effect, which is alsoknown as tactile, force feedback or haptic sensation, can be a pulse,vibration, spatial texture, weight or other physical properties sensiblethrough feeling and touch. The term haptic effect and haptic sensationwill be used interchangeably herein.

The present invention allows a user to manipulate the frequency of themovements between the pole pieces 110, 112 by adjusting the periodicityof applied input current. The input current means a current passingthrough the coils 114 a, 114 b for generating magnetic fields andmagnetic flux in the pole pieces 110, 112 and across the magnetic gaps140, 142. It should be noted that input currents having differentwaveform shapes will produce different haptic effect; when an inputcurrent is in a square waveform, the haptic effect will be differentthan when the input current waveform has a sinusoidal shape. In oneembodiment, the frequency of haptic effects may have a range betweenabout 40 and about 300 Hertz (Hz).

An advantage of using such a magnetic circuit with an actuator 100 asdescribed above is to efficiently generate force. Unlike other methods,a permanent magnet is not required to implement the present invention.One could be included to add a small magnetic bias to the magneticcircuit, however. Another advantage of actuator 100 is that it may bemade very compact in size. For example, in one embodiment actuator 100may be about 1.5 inches long, 0.6 inches high and 0.3 inches deep.Depending on the orientation of the actuator 100 with respect to atouch-sensitive panel, it can excite either in-plane or out-of-planemotion between the touch-sensitive panel and the display device forhaptic sensation. It should be noted that the L-shaped pole pieces asillustrated in FIG. 1 represent merely one embodiment and otherarrangements of the pole pieces may also be used although the L-shapedpole pieces are believed to be relatively space efficient for thisapplication.

FIG. 2 illustrates two alternative embodiments of electromagnetcomponents 200 and 220 capable of generating attractive magnetic forcein accordance with the present invention. Electromagnet component 200includes a C-shaped pole piece 202, an I-shaped pole piece 204, and asingle coil 206. Pole pieces 202, 204 may be made of any suitableferromagnetic materials as discussed above.

C-shaped pole piece 202 is placed adjacent to pole piece 204 with twogaps 208. The width of the gap 208 is approximately 0.5 mm. When theinput current passes through the coils 206, a magnetic flux 210 isgenerated. Magnetic flux 210 generates the attractive magnetic forcebetween the pole pieces 202, 204. The attractive magnetic force causesthe pole piece 204 to move closer to the pole piece 202. Alternatively,the attractive magnetic force can cause pole piece 202 to move closer topole piece 204 if pole piece 204 is relatively fixed. Haptic effects maybe generated by the movements caused by the attractive magnetic forcebetween the pole pieces 202, 204.

Electromagnet component 220 includes an E-shaped pole piece 222, anI-shaped pole piece 224, and a coil 226. Pole pieces 222, 224 may beconstructed as discussed above. E-shaped pole piece 222 is placedadjacent to the I-shaped pole piece 224 with a gap 228. The width of thegap 228 is approximately 0.5 mm. When the input current passes throughcoils 226, magnetic flux lines 230 are generated. Magnetic flux lines230 cause an attractive magnetic force between pole pieces 222, 224. Theattractive magnetic force causes pole piece 224 to move closer to polepiece 222 and effectively narrow the width of the gap 228. In anotherembodiment, the attractive magnetic force causes the pole piece 222 tomove closer to pole piece 224 if pole piece 224 is fastened to housing.A haptic effect may be generated by movements between the pole pieces.

FIG. 3 is an actuator 300 illustrating an alternative embodiment of theactuator illustrated in FIG. 1 in accordance with one embodiment of thepresent invention. Actuator 300 includes two L-shaped pole pieces 110,112, structural elements 102, 104, and biasing element 302. Pole pieces110, 112 are further coupled to coils 114 a, 114 b to form magneticdevices. Coils 114 a, 114 b are coupled to one or more current sourcesfor causing magnetic flux in pole pieces 110, 112.

Actuator 300 further includes structural elements 102, 104 and biasingelement 302 to form a frame. It should be noted that structural elements102, 104 and biasing element 302 can be manufactured at the same timeand on a single frame. Alternatively, structural elements 102, 104 andbiasing element 302 may be formed as separate structures that are thenassembled together. Structural elements 102, 104 are fabricated ordiscussed above to provide physical support for the pole pieces 110,112. Biasing element 302, which may be formed as described above, ismade of an elastic material that may be compressed or stretched within apredefined range. Referring to FIG. 3, it should be noted that biasingelement 302 may be located anywhere as long as it is coupled withstructural elements 102, 104 and provides its biasing or spring functionin opposition to the attractive gap-closing magnetic force of themagnetic devices.

FIG. 4 is an alternative embodiment of an actuator 400 in accordancewith one embodiment of the present invention. Actuator 400 includes twoL-shaped pole pieces 110, 112, structural elements 102, 104, and biasingelements 402, 404. Pole pieces 110, 112 are further coupled to coils 114a, 114 b to form magnetic devices. Coils 114 a, 114 b are coupled to oneor more current sources for creating magnetic flux in pole pieces 110,112.

Actuator 400 further includes structural elements 102, 104 and biasingelements 402, 404 to form a frame that allows some movements between thestructural elements 102, 104. It should be noted that structuralelements 102, 104 and biasing elements 402, 404 are manufacturedseparately and they need to be assembled to form a frame. Structuralelements 102, 104 are made of rigid materials, such as plastic, steel,aluminum, and so forth, to provide physical support for the pole pieces110, 112. Biasing elements 402, 404 may be implemented as discussedabove and may be made of elastic materials that can be compressed orstretched within a predefined range. Referring to FIG. 4, it should benoted that any type of biasing element may be used as long as itfacilitates movement between the pole pieces 110, 112 and may bearranged to counter the attractive gap-closing force of the magneticdevices.

FIG. 5 illustrates a system having an actuator 100 in accordance withone embodiment of the present invention. The system includes a case 502,a touch-sensitive panel 504, and an actuator 100. Actuator 100 includestwo L-shaped pole pieces 110, 112, structural elements 102, 104, andbiasing elements 106, 108. Pole pieces 110, 112 are further coupled tocoils 114 a, 114 b to form magnetic devices. Coils 114 a, 114 b arecoupled to one or more current sources for creating magnetic flux inpole pieces 110, 112. Biasing elements 106, 108 may be implemented asdiscussed above and may be made of elastic materials that may becompressed or stretched within a predefined range.

Referring to FIG. 5, one side of actuator 100 is coupled to the case 502while another side of actuator 100 is coupled to the touch-sensitivepanel 504. Structural element 102, as shown in FIG. 5, is fastened tothe case 502. In this embodiment, the case 502 is rigid and does notmove easily. In one embodiment, appertures 120, 122 may be used byfasteners to couple the structural element 102 to the case 502.Structural element 104 is, in turn fastened to a touch-sensitive panel504. Touch-sensitive panel 504, in one embodiment, may be made ofrelatively flexible transparent materials. In one embodiment, holes 124,126 may be used to fasten the structural element 104 to thetouch-sensitive panel 504.

When power is applied and input current begins to pass through the coils114 a, 114 b, the attractive gap-closing force between pole pieces 110and 112 starts to increase. The attractive force causes the pole piece112 to be attracted to the pole piece 110 where pole piece 110 is heldfixed. Pole piece 112 begins to move toward the pole piece 110 to closethe gaps 140, 142 until it reaches a second equilibrium position asillustrated in FIG. 6. When power is reduced or removed, the attractiveforce between pole pieces 110 and 112 begins to reduce and consequently,the pole piece 112 begins to move back to its original position inresponse to the return force provided by the biasing elements 106, 108.The biasing elements 106, 108 continue to force the pole piece 112 tomove back until it reaches the first equilibrium position as shown inFIG. 1. The movements between the pole pieces 110, 112 cause similarmovements between the structural elements 102, 104. In one embodiment,the movements between the structural elements 102, 104 generate hapticeffects or haptic sensation. Since touch-sensitive panel 504 is fastenedto structural element 104, haptic effects on the touch-sensitive panel504 occur when the movement between the structural elements 102, 104occurs. Depending on the orientation of the actuator 100 with respect tothe touch-sensitive panel 504, haptic effects may excite either in-planeor out-of-plane motion with respect to the touch-sensitive panel 504.

FIG. 6 illustrates, in a somewhat exaggerated manner to improvevisibility, a second equilibrium position of an actuator 600 inaccordance with one embodiment of the present invention. Actuator 600,which is similar to actuator 100, includes two L-shaped pole pieces 110,112, structural elements 102, 104, and biasing elements 602, 604. Polepieces 110, 112 are further coupled to coils 114 a, 114 b to formmagnetic devices. Coils 114 a, 114 b are coupled to one or more currentsources for generating magnetic flux in pole pieces 110, 112.

When power is off, the biasing elements 602, 604 provide minimal forceto keep the actuator 600 in the first equilibrium position as describedand shown in FIG. 1. When power is on, the input current passes throughthe coils 114 and generates magnetic flux in the pole pieces 110, 112.Magnetic flux causes an attractive magnetic force between the polepieces 110, 112 across gaps 140,142. The attractive magnetic force actsagainst the biasing elements 602, 604 and pulls the pole pieces 110, 112closer together at the gaps 140, 142. Pole piece 110, in thisembodiment, may be secured to a case via the structural element 102,while pole piece 112 is secured to a touch-sensitive panel via thestructural element 104. The attractive magnetic force causes the polepiece 112 to move from right to left (as indicated by 138) toward thepole piece 110. When the pole piece 110 is displaced enough distance, asecond equilibrium position is reached as shown in FIG. 6. When power isreduced or removed, the biasing elements 602, 604 force the pole piece112 back to the first equilibrium position as discussed earlier.

FIG. 7 illustrates a system configuration having an actuator inaccordance with one embodiment of the present invention. The systemconfiguration includes a touch-sensitive panel 702, a display panel 704,and a case 706. Touch-sensitive panel 702, in one embodiment, is made ofsubstantially transparent materials, and is capable of transmittinglight so that objects or images displayed in the display 704 may be seenthrough the touch-sensitive panel 702. The display 704 can be any typeof display such as a cathode ray tube (CRT), liquid crystal display(LCD), plasma display, flat panel display or the like or could even be astatic illustration. Both touch-sensitive panel 702 and display 704 maybe installed in the case 706. In an alternative embodiment, thetouch-sensitive panel 702 and the display 704 may be located separatelywith the actuator mounted between the touch-sensitive panel 702 and arelatively fixed location so that haptic effects are provided to thetouch-sensitive panel but the display is located elsewhere.

In one embodiment, touch-sensitive panel 702 is further divided intovarious regions 720 and the regions are further separated by borders722. Touch-sensitive panel 702 accepts a user's selection when only aregion 720 is touched. Conversely, touch-sensitive panel 702 rejects auser's selection when a border 722 is touched. Touch-sensitive panel 702further includes four actuators 710 and, depending on their orientation,actuators 710 can excite either in-plane or out-of-plane motion withrespect to the touch-sensitive panel 702 for haptic sensation. Actuators710 may be installed to move touch-sensitive panel for relative todisplay 704.

FIG. 8 is a flow diagram illustrating a method for generating a hapticeffect in accordance with one embodiment of the present invention. Aprocess for generating haptic sensation starts at block 802. In oneembodiment, the process can be activated by a user who touches atouch-sensitive panel possibly in a predetermined location or locations.In another embodiment, the process is activated by a touch signal orcontact signal sent by the touch-sensitive panel, which indicates that aselection has been made by a user.

At block 804, the process receives a contact signal from thetouch-sensitive, which may be sent by a touch-sensitive panel accordingto a selection made by a user. In another embodiment, a computer orcontroller sends a contact signal. Upon receipt of the contact signal,the process moves to the next block 806.

At block 806, the process instructs a controller to provide an inputcurrent according to the contact signal. In one embodiment, the inputcurrent is passing through at least one electromagnet device of anactuator to generate magnetic flux in a pair of pole pieces.

At block 808, the magnetic flux creates attractive magnetic forcebetween the electromagnet devices which opposes a biasing force impartedby biasing elements arranged to counter the attractive magnetic force.The attractive magnetic force causes the pole pieces of theelectromagnet devices to attract to each other. The process moves to thenext block.

At block 810, the attractive magnetic force creates a movement betweenthe electromagnet devices. In one embodiment, one pole piece of oneelectromagnet device is physically moved closer to another pole piece ofanother electromagnet device.

At block 812, the current is removed.

At block 814, a biasing element provides a bias force or return force tocontrol the movement between the electromagnet devices within apredefined range. When the power is reduced or turned off in block 812,the pole pieces of electromagnet devices move back to their originalpositions.

With turning on and off the power continuously, a continuous movementbetween the electromagnet devices is created. Accordingly, the hapticeffect is generated in response to the movement between theelectromagnet devices. It should be noted that the frequency andamplitude of the movements between the electromagnet devices can becontrolled by controlling the input current.

FIG. 9 is a block diagram illustrating a system having an actuator inaccordance with one embodiment of the present invention. The systemincludes a computer or central processing unit (CPU) 906 withappropriate interfaces 908 to a memory 910 for storing program steps forcontrolling the processor 906, 912 for controlling a display device 914,916 for communicating with a touch-sensitive panel 918 and 920 fordriving an amplifier circuit (if required) which in turn drives actuator924. Actuator 924 is arranged to create relative movement betweendisplay device 914 and touch-sensitive panel 918. The relative movementmay be in the plane of the touch-sensitive panel, out of the plane ofthe touch-sensitive panel, or same combination of the two. When thetouch panel 904 is touched or depressed, it sends a contact signal tocomputer 906 via connection 926. The contact signal indicates that thetouch panel has been selected or touched. Computer 906, which can be anygeneral purpose computer operating under the control of suitablesoftware and for firmware, is coupled to amplifier 922 via connection928 and instructs amplifier 922 to provide input current to the actuator924 over connection 930. Upon receipt of an instruction from thecomputer 906, amplifier 922 provides an input current to the actuator924 via connection 930. Actuator 924 provides a haptic sensation oreffect to the touch-sensitive panel 918. The processor 906 (or,potentially, another device (not shown) provides a display image orimage to display device 914.

In the foregoing specification the invention has been described withreference to specific exemplary embodiments thereof It will, however, beevident that various modifications and changes may be made theretowithout departing from the broader scope of the invention. For example,if desired, two or more actuators could be attached together to providemultiple inputs to generate haptic effects and/or to increase the hapticeffect and/or a component to be haptically effected could be arranged sothat actuators are arranged to be able to pull it in more than onedirection. Accordingly, the specification and drawings are to beregarded in an illustrative rather than restrictive sense.

1. An actuator, comprising: a first structural element having mountingstructure mountable to a first component; a second structural elementhaving mounting structure mountable to a second component; a firstbiasing element coupling the first structural element to the secondstructural element; a first magnetic device carried by the firststructural element, the first magnetic device including a first polepiece; and a second magnetic device carried by the second structuralelement, the second magnetic device including a second pole piece; afirst coil disposed about at least one of said first pole piece and saidsecond pole piece; wherein the first biasing element is arranged toprovide a biasing force opposing an attractive magnetic force urging thefirst and second pole pieces together when current is applied to thefirst coil and electric current applied to the first coil causes ahaptic effect to be generated between the first component on the secondcomponent.
 2. The actuator of claim 1, wherein the second magneticdevice includes a second coil disposed about at least one of said firstpole piece and said second pole piece.
 3. The actuator of claim 1,further comprising a second biasing element, wherein the second biasingelement is arranged to provide a biasing force opposing an attractivemagnetic force urging the first and second pole pieces together whencurrent is applied to the first coil.
 4. The actuator of claim 1,wherein the first biasing element comprises a spring.
 5. The actuator ofclaim 1, wherein the first biasing element comprises an elastomericelement.
 6. The actuator of claim 1, wherein the first biasing elementcomprises a foam material.
 7. The actuator of claim 1, wherein the firstand second structural element and the first biasing element are allformed from the same material and the first biasing element is formedthinner than the first and second structural elements so that it is freeto flex when perturbed.
 8. A touch panel assembly, comprising: atouch-sensitive panel; a display device; and an actuator including afirst structural element; a second structural element; a first biasingelement coupling the first structural element to the second structuralelement; a first magnetic device carried by the first structuralelement, the first magnetic device including a first pole piece; and asecond magnetic device carried by the second structural element, thesecond magnetic device including a second pole piece; a first coildisposed about at least one of said first pole piece and said secondpole piece; wherein the first biasing element is arranged to provide abiasing force opposing an attractive magnetic force urging the first andsecond pole pieces together when current is applied to the first coil;wherein the actuator is arranged so that its first structural element ismechanically coupled to the touch-sensitive panel and its secondstructural element is mechanically coupled to the display device or itssupport structure.
 9. The touch panel assembly of claim 8, wherein thetouch-sensitive panel is substantially transparent and is disposedadjacent to the display device so that a user may observe the displaydevice through the touch-sensitive panel.
 10. The touch panel assemblyof claim 8, wherein the actuator includes a second coil disposed aboutat least one of said first pole piece and said second pole piece. 11.The touch panel assembly of claim 8, further comprising a second biasingelement, wherein the second biasing element is arranged to provide abiasing force opposing an attractive magnetic force urging the first andsecond pole pieces together when current is applied to the first coil.12. The touch panel assembly of claim 8, wherein the first biasingelement comprises a spring.
 13. The touch panel assembly of claim 8,wherein the first biasing element comprises an elastomeric element. 14.The touch panel assembly of claim 8, wherein the first biasing elementcomprises a foam material.
 15. The touch panel assembly of claim 8,wherein the first and second structural element and the first biasingelement are all formed from the same material and the first biasingelement is formed thinner than the first and second structural elementsso that it is free to flex when perturbed.
 16. The touch panel assemblyof claim 8, wherein an electric current applied to the first coil causesthe actuator to generate haptic effects by creating relativedisplacement of said touch-sensitive panel and said display device. 17.A method for providing haptic effects in a touch panel assembly, themethod comprising: measuring a touching contact with a touch-sensitivepanel; generating a first signal in response to the touching contact;transmitting the first signal to a processor; creating a haptic outputcurrent signal in response to said first signal; carrying said hapticoutput current signal to an actuator arranged to create relative motionbetween a first structural element and a second structural elementthereof, the first structural element mechanically coupled to thetouch-sensitive panel and the second structural element mechanicallycoupled to a display device; and causing a haptic effect by actuatingthe actuator.
 18. A method for providing haptic effects in a touch panelassembly, the method comprising: measuring a touching contact with atouch-sensitive panel; generating a first signal in response to thetouching contact; transmitting the first signal to a processor; creatinga haptic output current signal in response to said first signal;carrying said haptic output current signal to an actuator arranged tocreate relative motion between a first structural element and a secondstructural element thereof, the first structural element mechanicallycoupled to the touch-sensitive panel and the second structural elementmechanically coupled to a display device, wherein the actuator furtherincludes a first biasing element coupling the first structural elementto the second structural element; a first magnetic device carried by thefirst structural element, the first magnetic device including a firstpole piece; a second magnetic device carried by the second structuralelement, the second magnetic device including a second pole piece; and afirst coil disposed about at least one of said first pole piece and saidsecond pole piece; wherein the first biasing element is arranged toprovide a biasing force opposing an attractive magnetic force urging thefirst and second pole pieces together when current is applied to thefirst coil; and causing a haptic effect by actuating the actuator. 19.An apparatus for providing haptic actuation, the apparatus comprising: afirst means for mounting the apparatus; a second means for mounting theapparatus; a first biasing means coupling the first means for mountingto the second means for mounting; a first magnetic means carried by thefirst means for mounting, the first magnetic means including a firstmeans for confining magnetic flux and a first means for generating amagnetic field about the first means for confining magnetic flux; and asecond magnetic means carried by the second means for mounting, thesecond magnetic means including a second means for confining magneticflux; wherein the first biasing means is arranged to provide a biasingforce opposing an attractive magnetic force urging the first and secondmeans for confining magnetic flux together when current is applied tothe first means for generating a magnetic field.
 20. A touch panelapparatus for providing haptic effects, the apparatus comprising: meansfor detecting a touching contact with a touch-sensitive panel; means forgenerating a first signal in response to the touching contact; means fortransmitting the first signal to a processor; means for creating ahaptic output current signal in response to said first signal; means forcarrying said haptic output current signal to an actuator arranged tocreate relative motion between a first structural element and a secondstructural element thereof, the first structural element mechanicallycoupled to the touch-sensitive panel and the second structural elementmechanically coupled to a display device; and means for causing a hapticeffect by actuating the actuator.
 21. A touch panel apparatus forproviding haptic effects, the apparatus comprising: means for detectinga touching contact with a touch-sensitive panel; means for generating afirst signal in response to the touching contact; means for transmittingthe first signal to a processor; means for creating a haptic outputcurrent signal in response to said first signal; means for carrying saidhaptic output current signal to an actuator arranged to create relativemotion between a first structural element and a second structuralelement thereof, the first structural element mechanically coupled tothe touch-sensitive panel and the second structural element mechanicallycoupled to a display device, wherein the actuator further includes afirst biasing element coupling the first structural element to thesecond structural element; a first magnetic device carried by the firststructural element, the first magnetic device including a first polepiece; a second magnetic device carried by the second structuralelement, the second magnetic device including a second pole piece; afirst coil disposed about at least one of said first pole piece and saidsecond pole piece. wherein the first biasing element is arranged toprovide a biasing force opposing an attractive magnetic force urging thefirst and second pole pieces together when current is applied to thefirst coil; and means for causing a haptic effect by actuating theactuator.
 22. A touch panel assembly, comprising: a touch-sensitivepanel; and an actuator including a first structural element; a secondstructural element; a first biasing element coupling the firststructural element to the second structural element; a first magneticdevice carried by the first structural element, the first magneticdevice including a first pole piece; and a second magnetic devicecarried by the second structural element, the second magnetic deviceincluding a second pole piece; a first coil disposed about at least oneof said first pole piece and said second pole piece; wherein the firstbiasing element is arranged to provide a biasing force opposing anattractive magnetic force urging the first and second pole piecestogether when current is applied to the first coil; wherein the actuatoris arranged so that its first structural element is mechanically coupledto the touch-sensitive panel or its support structure.
 23. The touchpanel assembly of claim 22, wherein the touch-sensitive panel issubstantially transparent and is disposed adjacent to the display deviceso that a user may observe the display device through thetouch-sensitive panel.
 24. The touch panel assembly of claim 22, whereinthe actuator includes a second coil disposed about at least one of saidfirst pole piece and said second pole piece.
 25. The touch panelassembly of claim 22, further comprising a second biasing element,wherein the second biasing element is arranged to provide a biasingforce opposing an attractive magnetic force urging the first and secondpole pieces together when current is applied to the first coil.
 26. Thetouch panel assembly of claim 22, wherein the first biasing elementcomprises a spring.
 27. The touch panel assembly of claim 22, whereinthe first biasing element comprises an elastomeric element.
 28. Thetouch panel assembly of claim 22, wherein the first biasing elementcomprises a foam material.
 29. The touch panel assembly of claim 22,wherein the first and second structural element and the first biasingelement are all formed from the same material and the first biasingelement is formed thinner than the first and second structural elementsso that it is free to flex when perturbed.
 30. The touch panel assemblyof claim 22, wherein an electric current applied to the first coilcauses the actuator to generate haptic effects by creating movement ofsaid touch-sensitive panel.
 31. The touch panel assembly of claim 10,wherein an electric current applied to at least one of said first andsecond coils causes the actuator to generate haptic effects by causingmovement of the touch-sensitive panel.